Isaac Simをスタンドアローンで動作させるpythonスクリプトを書いてみる

$ ./python.sh <path>/python.py

$ cd ~/.local/share/ov/pkg/isaac_sim-2021.2.1
$ ./python.sh standalone_examples/api/omni.isaac.franka/follow_target.py

from omni.isaac.kit import SimulationApp
import numpy as np

simulation_app = SimulationApp({"headless": False})

from omni.isaac.core import World
from omni.isaac.core.objects import DynamicCuboid, DynamicCapsule, DynamicCone
from omni.isaac.core.objects import DynamicCylinder, DynamicSphere, FixedCuboid

my_world = World(stage_units_in_meters=0.01)

d_cube = my_world.scene.add(
    DynamicCuboid(
        prim_path="/dynamic_cube",
        name="dynamic_cube",
        position=np.array([0, 0, 0.5]) * 100,
        size=np.array([0.1, 0.1, 0.1]) * 100,
        color=np.array([255, 255, 255]),
    )
)

d_cap = my_world.scene.add(
    DynamicCapsule(
        prim_path="/dynamic_capsule",
        name="dynamic_capsule",
        position=np.array([0.5, 0, 0.5]) * 100,
        radius=0.05 * 100,
        height=0.05 * 100,
        color=np.array([255, 0, 0]),
    )
)

d_cone = my_world.scene.add(
    DynamicCone(
        prim_path="/dynamic_cone",
        name="dynamic_cone",
        position=np.array([-0.5, 0, 0.5]) * 100,
        radius=0.05 * 100,
        height=0.05 * 100,
        color=np.array([0, 0, 255]),
    )
)

d_cyl = my_world.scene.add(
    DynamicCylinder(
        prim_path="/dynamic_cylinder",
        name="dynamic_cylinder",
        position=np.array([0, 0.5, 0.5]) * 100,
        radius=0.05 * 100,
        height=0.05 * 100,
        color=np.array([0, 255, 0]),
    )
)

d_sph = my_world.scene.add(
    DynamicSphere(
        prim_path="/dynamic_sphere",
        name="dynamic_sphere",
        position=np.array([0.5, 0.5, 0.5]) * 100,
        radius=0.05 * 100,
        color=np.array([255, 0, 255]),
    )
)

f_cube = my_world.scene.add(
    FixedCuboid(
        prim_path="/fixed_cube",
        name="fixed_cube",
        position=np.array([-0.5, 0.5, 0.5]) * 100,
        size=np.array([0.1, 0.1, 0.1]) * 100,
        color=np.array([255, 255, 255]),
    )
)

my_world.scene.add_default_ground_plane()

my_world.reset()

while simulation_app.is_running():
    my_world.step(render=True)

simulation_app.close()

from omni.isaac.kit import SimulationApp
import numpy as np
import carb
import omni.appwindow

simulation_app = SimulationApp({"headless": False})

from omni.isaac.jetbot import Jetbot
from omni.isaac.jetbot.controllers import DifferentialController

from omni.isaac.core import World

my_world = World(stage_units_in_meters=0.01)

my_jetbot = my_world.scene.add(
    Jetbot(
        prim_path="/World/Jetbot",
        name="my_jetbot",
        position=np.array([0, 0.0, 2.0])
    ) 
) 

my_controller = DifferentialController(name="simple_control")

my_world.scene.add_default_ground_plane()

command_ = [0.0, 0.0]
def sub_keyboard_event(event, *args, **kwargs):
    """Handle keyboard events
    w,s,a,d as arrow keys for jetbot movement

    Args:
        event (int): keyboard event type
    """
    global command_
    if(
        event.type == carb.input.KeyboardEventType.KEY_PRESS
        or event.type == carb.input.KeyboardEventType.KEY_REPEAT
    ):
        if event.input == carb.input.KeyboardInput.W:
            command_ = [20, 0.0]
        if event.input == carb.input.KeyboardInput.S:
            command_ = [-20, 0.0]
        if event.input == carb.input.KeyboardInput.A:
            command_ = [0.0, np.pi / 5]
        if event.input == carb.input.KeyboardInput.D:
            command_ = [0.0, -np.pi / 5]
    if(event.type == carb.input.KeyboardEventType.KEY_RELEASE):
        command_ = [0.0, 0.0]

    return True

appwindow_ = omni.appwindow.get_default_app_window()
input_ = carb.input.acquire_input_interface()
keyboard_ = appwindow_.get_keyboard()
sub_keyboard_ = input_.subscribe_to_keyboard_events(keyboard_,sub_keyboard_event)

my_world.reset()

while simulation_app.is_running():
    my_world.step(render=True)
    if my_world.is_playing():
        my_jetbot.apply_wheel_actions(my_controller.forward(command=command_))

simulation_app.close()